Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness

Abstract

An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.

Description

FIELD OF THE INVENTION The present invention generally relates to the actuation of joints in mechanical structures and, more particularly, to a pneumatically operated actuation system efficiently integrated in the space occupied by a joint, as well as the simultaneous proportional control of position and stiffness of that joint. BACKGROUND OF THE INVENTION Robotic vehicles are often used to navigate or traverse varying terrain. As is well known, wheeled robotic vehicles, both large and small, are particularly well adapted for travel over relatively smooth terrain, such as roads and smooth floors. However, it is often necessary for robots to traverse terrain that is not smooth, such as stairs or curbs. Moreover, it is often necessary for robots to traverse terrain that may pose a danger to humans, such as those situations presenting an environmental risk, military risk, or the like. Often robotic devices are useless in these dangerous situations because of their inability to succes...

AI Technical Summary

Benefits of technology

According to the principles of the present invention, an apparatus for traversing obstacles having an advantageous design is provided. The apparatus includes an elongated, round, flexible body that further includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize airflow.

Problems solved by technology

However, it is often necessary for robots to traverse terrain that is not smooth, such as stairs or curbs.

Moreover, it is often necessary for robots to traverse terrain that may pose a danger to humans, such as those situations presenting an environmental risk, military risk, or the like.

Often robotic devices are useless in these dangerous situations because of their inability to successfully and reliably traverse any severely broken and / or fractured ground that they may encounter.

However, these solutions include additional disadvantages, such as increasing the overall size of the vehicle, which may inhibit the robot's ability to pass through small openings.

Furthermore, many robots suffer from being rendered immobile as a result of a rollover or other situation that prevents contact of their propulsion member(s) on the ground surface.

That is, should a wheeled robot encounter a grade sufficient to roll it on its side, the wheels are no longer capable of propelling the robot.

In terrains that pose a risk to humans, such rollovers may render the robot unrecoverable.

However, often times prior art robotic devices fail to provide adequate range of motion and / or force necessary to articulate the various robotic segments in demanding environmental situations

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